Autonomous mower

ABSTRACT

An autonomous mower includes a housing; a mowing module, a traveling module, an information collection device, an energy module, a control module and the control module includes an identification unit, and an alarm module. The autonomous mower has a security patrol working mode in which the identification unit analyzes and judges whether an abnormal object exists in the working area according to the information collected by the information collection device; if the abnormal object exists, the control module controls the alarm module to send an alarm signal to the outside. Therefore, the autonomous mower can achieve a security patrol function in addition to having a function of trimming the lawn. The autonomous mower has multiple uses, so as to save the cost.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a continuation of U.S. patent application Ser. No. 16/719,728,filed Dec. 18, 2019, which is a continuation of U.S. patent applicationSer. No. 16/244,894, filed Jan. 10, 2019, which is a continuation ofU.S. patent application Ser. No. 15/112,934, filed Jul. 20, 2016, whichis the United States national phase of International Patent ApplicationNo. PCT/CN2015/071207, filed Jan. 21, 2015, which claims priority toChinese Patent Application No. 201410096054.2, filed Mar. 14, 2014, andChinese Patent Application No. 201410027369.1, filed Jan. 21, 2014. Theentire contents of each of the foregoing applications are herebyincorporated by reference.

TECHNICAL FIELD

The present invention relates to the field of power tools, inparticular, to an autonomous mower.

BACKGROUND

As a tool adapted to trim a lawn quickly and efficiently, a mower iswidely used in occasions such as urban greening and family weeding. Themower further includes an autonomous mower. The autonomous mower cancomplete the work of mowing the lawn independently, which requires noartificial direct control and operations, has low power, small noise anddelicate and nice appearance, and significantly reduces manualoperations.

The autonomous mower obtains video and/or images by installing an imageacquisition device on the mower, and identifies lawns, obstacles andother objects through colors and/or textures. The main function of thecommon mower is to achieve automatic mowing, and the function isrelatively single. At present, people hope that one device can have manyfunctions to facilitate the use and can save the cost of purchasingother devices again.

As is well-known, the image acquisition device generally includes a lenswhich may lead to unclear images or video in case of uncleanness. Theunclear images or video may lead to the autonomous mower's misjudgmentof autonomous mower the lawns, the obstacles or the like, with theresult that the mower cannot work normally.

SUMMARY

In view of this, it is necessary to provide an autonomous mower having asecurity patrol working mode.

The present invention provides an autonomous mower which automaticallytravels and works in a working area, including a housing; a mowingmodule received in the housing, and performing predetermined mowingwork; a traveling module supporting the housing and driving theautonomous mower to travel; an information acquisition device disposedon the housing and used for acquiring external environment information;an energy module providing energy for the autonomous mower; and acontrol module connecting and controlling the mowing module, thetraveling module, the information acquisition device and the energymodule, to achieve automatic traveling and automatic working of theautonomous mower; wherein the autonomous mower further includes an alarmmodule for making an alarm; the control module includes anidentification unit which receives the information acquired by theinformation acquisition device; the autonomous mower has a safetyinspection working mode in which the identification unit analyzes andjudges whether an abnormal object exists in the working area accordingto the information acquired by the information acquisition device; ifthe abnormal object exists, the control module controls the alarm moduleto send an alarm signal to the outside.

Preferably, the information acquisition device includes an imageacquisition device, and the identification unit analyzes and judgeswhether the abnormal object exists in the working area according toimage information acquired by the image acquisition device.

Preferably, the identification unit identifies whether an object is anabnormal object according to the size or contour presented by the objectin the image information.

Preferably, the identification unit includes a face identificationprogram which identifies a face and judges whether the identified faceis a strange face, and if yes, judges whether an abnormal object existsin the working area.

Preferably, the image acquisition device is rotatably fixed onto thehousing.

Preferably, the autonomous mower further includes a driving device thatdrives the image acquisition device to make rotational motion, and thecontrol module controls the rotational motion of the image acquisitiondevice through the driving device.

Preferably, the information acquisition device includes an infraredsensor through which the temperature is detected, and the identificationunit judges whether an abnormal object exists in the working areaaccording to whether the temperature is in a predetermined range or not.

Preferably, the alarm module includes a luminous alarm device or asounding alarm device disposed on the autonomous mower.

Preferably, the autonomous mower further includes a wirelesscommunication module which includes a Wi-Fi module, a cellularcommunication module or a Bluetooth module.

Preferably, the alarm module transmits images, texts or audio alarmsignals to the outside through the wireless communication module.

Preferably, the autonomous mower receives a control instruction sent byan external device through the wireless communication module, andcontrols its own work or travel according to the control instruction.

Preferably, when a parameter related to a working environment satisfiesa preset condition, the control module starts the security patrolworking mode.

Preferably, the control module includes a path setting unit which isused for setting a patrol route, and the autonomous mower patrolsaccording to the patrol route in the security patrol working mode.

The present invention further provides an autonomous mower, including ahousing; mowing module received in the housing, and performingpredetermined mowing work; a traveling module supporting the housing anddriving the autonomous mower to travel; an information acquisitiondevice disposed on the housing and used for collecting externalenvironment information; an energy module providing energy for theautonomous mower; and a control module connecting and controlling themowing module, the traveling module, the information acquisition deviceand the energy module, to achieve automatic traveling and automaticworking of the autonomous mower; wherein the autonomous mower furtherincludes an alarm module for making an alarm; the control moduleincludes an identification result processing unit; the autonomous mowerhas a security patrol working mode in which the identification resultprocessing unit sends the collected external environment information toan external device and receives an identification result analyzed andjudged by the external device based on the information, and theidentification result indicates whether an abnormal object exists in theworking area; if the abnormal object exists, the control module controlsthe alarm module to send an alarm signal to the outside.

Preferably, the autonomous mower includes a wireless communicationmodule through which the identification result processing unit conductscommunication with the external device.

Preferably, the information acquisition device includes an imageacquisition device, and the external environment information includesimage or video information collected by the image acquisition device.

Preferably, the information acquisition device includes an infraredsensor, and the external environment information includes temperatureinformation of an outside object detected by the infrared sensor.

The autonomous mower includes an alarm module for making an alarm, andthe control module includes an identification unit; the autonomous mowerhas a security patrol working mode in which the identification unitanalyzes and judges whether an abnormal object exists in a workingenvironment; if the abnormal object exists, the alarm module sends analarm signal to the outside. Therefore, the autonomous mower can achievea security patrol function in addition to having a function of trimmingthe lawn. The autonomous mower has multiple uses, so as to save thecost.

In view of this, it is necessary to provide an autonomous travelingdevice that can clean a lens.

The present invention provides an autonomous traveling device, whichautomatically travels and works in a working area, including: a housing;a working module received in said housing and performing predeterminedwork; a traveling module supporting said housing; an image acquisitiondevice disposed on said housing, including a lens; an energy moduleproviding energy for working and traveling of said autonomous travelingdevice; and a control module connecting and controlling said workingmodule, said traveling module, said image acquisition device and saidenergy module, to achieve automatic traveling and automatic working ofsaid autonomous traveling device; wherein said autonomous travelingdevice further includes a cleaning device for keeping said lens clean.

Preferably, said autonomous traveling device further includes a cleaningcontrol unit which controls said cleaning device to clean said lensautomatically according to a preset program.

Preferably, said cleaning device includes a shielding sheet disposed onsaid lens which can be moved to shield or expose said lens, and saidshielding sheet is provided thereon with a cleaning element that cleanssaid lens when said shielding sheet is moved.

Preferably, said cleaning element is a cleaning brush or flaky cleaningplate.

Preferably, said cleaning element is detachably installed on saidshielding sheet.

Preferably, said cleaning device includes a microfan disposed on saidlens which produces air currents to clean said lens.

Preferably, said microfan includes fan blades made of piezoelectricmaterial, and high-frequency vibration of said fan blades produces saidair currents.

Preferably, said cleaning device includes a transparent cover thatsurrounds said image acquisition device therein and a cleaning elementthat cleans said transparent cover.

Preferably, said cleaning element includes a cleaning brush fixed to oneside of said image acquisition device opposite to said lens, saidtransparent cover is rotatable around said image acquisition device, andwhen said transparent cover rotates around said image acquisitiondevice, said cleaning brush can clean said transparent cover.

Preferably, said cleaning brush is detachably installed on one side ofsaid image acquisition device opposite to said lens.

Preferably, said transparent cover is driven through a motor, andautomatically rotates around said image acquisition device.

Preferably, said cleaning element includes a cleaning brush for cleaningsaid transparent cover, and said cleaning brush is located on an outerside of said transparent cover facing said lens.

Preferably, said cleaning brush is driven through a motor, and canreciprocate along the outer side of said transparent cover andautomatically clean said transparent cover.

Preferably, said cleaning element includes a spray device for cleaningsaid transparent cover, and said spray device is located on an outerside of said transparent cover facing the lens.

Preferably, said spray device includes a water jet device or an air jetdevice, which cleans said transparent cover through sprayed watercurrent or air current.

Preferably, said cleaning control unit compares the image collected bysaid image acquisition device in the preset position with a presetreference image, and when judging that they are different from eachother, controls said lens cleaning device to perform a cleaning task.

Preferably, said autonomous traveling device includes an alarm module,and said cleaning control unit compares said image acquisition device inthe preset position with a preset reference image, and when judging thatthey are different from each other, controls said alarm module to sendan alert signal.

The autonomous traveling device is provided with a cleaning device forkeeping the lens clean, thus avoiding that an image or video shot by thelens is not clear and preventing that the autonomous traveling device'smisjudgment of autonomous traveling device the lawns, the obstacles orthe like caused by the unclear image or video results in the autonomoustraveling device that autonomous traveling device cannot work normally.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of an autonomous moweraccording to one embodiment;

FIG. 2 is a schematic functional module diagram of the autonomous mowershown in FIG. 1 ;

FIG. 3 is a schematic diagram illustrating that a shielding sheet of alens cleaning device is in a completely open state according to oneembodiment;

FIG. 4 is a schematic diagram illustrating that the shielding sheet ofthe lens cleaning device is in a partially open state according to theembodiment shown in FIG. 3 ;

FIG. 5 is a schematic diagram illustrating that the shielding sheet ofthe lens cleaning device is in a folded state according to theembodiment shown in FIG. 3 ;

FIG. 6 is a schematic diagram of a lens cleaning device of a microfanaccording to one embodiment;

FIG. 7 is a schematic diagram of a transparent cover and a cleaningdevice of a cleaning brush according to one embodiment;

FIG. 8 is a schematic diagram of a transparent cover and a cleaningdevice of a cleaning brush according to another embodiment; and

FIG. 9 is a schematic diagram of a transparent cover and a cleaningdevice of a spray device according to one embodiment.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENT

Embodiments of the present invention are elaborated below with referenceto the accompanying drawings, to enable the advantages and features ofthe present invention to be better understood by those skilled in theart, thus defining the protection scope of the present invention moreclearly and definitely. The accompanying drawings merely providereference and description, instead of being used to limit the presentinvention.

Referring to FIG. 1 and FIG. 2 , one embodiment of the present inventionprovides an autonomous mower 100. The autonomous mower 100 has a housing110 and an information acquisition device installed on the housing 110.In one embodiment, the information acquisition device is an imageacquisition device 140. The image acquisition device 140 shoots a targetregion of the autonomous mower 100 so as to form an image. Theautonomous mower 100 further includes a working module 120, a travelingmodule 130, an energy module 150, a control module 160 and an alarmmodule 190. The control module 160 connects and controls the travelingmodule 130, the working module 120, the energy module 15 and the imageacquisition device 140.

In this embodiment, the working module 120 is a mowing module, which isspecifically a cutting component, for example, a cutting blade. Theworking module 120 is driven to work by a cutting motor (not shown). Thecenter of the working module 120 is located on a central axis of theautonomous mower 100, disposed below the housing 110, and locatedbetween auxiliary wheels and driving wheels.

The traveling module 130 includes a wheel set and a traveling motor thatdrives the wheel set. The wheel set may be set in many methods.Generally, the wheel set includes a driving wheel driven by thetraveling motor and an auxiliary wheel that assists in supporting thehousing 110, the number of the driving wheels may be one, two or more,and the auxiliary wheel may also be correspondingly set as one, two ormore. In this embodiment, the number of the driving wheels of theautonomous mower 100 is two, which are respectively a right drivingwheel on the right and a left driving wheel on the left. The rightdriving wheel and the left driving wheel are symmetrically disposedabout the central axis of the autonomous mower 100. The center of theauxiliary wheel is located on the central axis. The right driving wheeland the left driving wheel are preferably located in the back of thehousing 110, and the auxiliary wheel is located in the front. Certainly,in other embodiments, they may also be replaced with each other.

In this embodiment, the right driving wheel and the left driving wheelmate with a driving motor respectively, to achieve differential outputto control steering. The driving motor may be directly connected withthe driving wheel, but it is also possible to dispose a transmissiondevice between the driving motor and the driving wheel, such as theplanetary gear train common in this technical field. In otherembodiments, it is also possible to set two driving wheels and onedriving motor, and in this case, the driving motor drives the rightdriving wheel through a first transmission device and drives the leftdriving wheel through a second transmission device. That is, the samemotor drives the right driving wheel and the left driving wheel throughdifferent transmission devices.

The image acquisition device 140 is installed to a top position in thefront of the housing 110, and is preferably disposed in the middle andcollects image information of a target region. In this embodiment, aview-finding range of the image acquisition device 140 has differentviewing angle ranges according to different acquisition device types,for example, a viewing angle range from 90 degrees to 120 degrees.Certainly, in a specific implementation process, a certain angle rangein the viewing angle range can be selected as an actual view-findingrange, for example, a range of 90 degrees in the middle of the viewingangle range of 120 degrees is selected as an actual view-finding range.

In one embodiment, the image acquisition device 140 is rotatably fixedonto the housing 110. The autonomous mower 100 is provided with adriving device that drives the image acquisition device 140 to makerotational motion. The control module 160 is connected with the drivingdevice, and can control the image acquisition device 140 to makerotational motion through the driving device. Through the rotationalmotion, the image acquisition device 140 has multiple perspectives.

In one embodiment, the image acquisition device 140 of the autonomousmower 100 may also be installed with an illuminating lamp. Theilluminating lamp can rotate along with the image acquisition device140. When the light is dark and a suspicious object is found, it ispossible to make the image shot by the image acquisition device 140clearer by turning on the illuminating lamp, to facilitateidentification of the suspicious object, thus facilitating judgment onhow to deal with this.

The energy module 150 is used for providing energy for operation of theautonomous mower 100. The energy of the energy module 150 may begasoline, battery pack or the like, and in this embodiment, the energymodule 150 includes a rechargeable battery pack disposed in the housing110. During work, the battery pack releases electric energy to maintainworking and traveling of the autonomous mower 100. During non-work, thebattery can be connected to an external power source to supplementelectric energy. Particularly, by a more humanized design, when it isdetected that the capacity of the battery is insufficient, theautonomous mower 100 may automatically look for a charging station tosupplement electric energy.

The control module 160 is used for controlling working and traveling ofthe autonomous mower 100. As shown in FIG. 2 , the control module 160includes an identification unit 162. The identification unit 162 is usedfor analyzing the image information acquired by the image acquisitiondevice 140, and identifying whether an abnormal object exists in aworking environment.

The identification unit 162 identifies whether an object is an abnormalobject according to the size or contour presented by the object in theimage information. A specific implementation mode is as follows: theidentification unit 162 is provided with a particular program, andjudges from the image information whether the abnormal object exists inthe working environment. In one embodiment, the particular program inthe identification unit 162 judges whether content in the imageinformation achieves the particular size or particular contour throughan algorithm such as image segmentation or image extraction, so as tojudge whether the abnormal object exists in the working environment.

The identification unit 162 can compare the content in the imageinformation obtained in real time with content in a storage unit, so asto judge whether the abnormal object exists in the working environment.In one embodiment, the autonomous mower 100 is provided with a storageunit which stores features of the abnormal object or features of anon-abnormal object, and the identification unit 162 compares the imageinformation with content in the storage unit through an image matchingalgorithm, judges that the abnormal object exists in the workingenvironment when the features of the abnormal object are present, andjudges that the abnormal object exists in the working environment whenother features of the non-abnormal object are present.

In one embodiment, the identification unit 162 includes a faceidentification program which judges whether the working environment isinvaded by someone. A specific implementation process is as follows: theidentification unit 162 detects whether there is a face in the imageobtained in real time through the face identification program (e.g., atemplate-based matching algorithm, a singular value-based featurealgorithm, a subspace analysis algorithm, a principal component analysisalgorithm and so on). If a detection result is that the image includes aface, it indicates that the working environment is invaded. In oneembodiment, the autonomous mower is provided with a storage unit insidewhich stores, face image of users and particular member. After theidentification unit 162 detects that the image includes a face, theidentification unit 162 compares features of the face with face featuresset in the storage unit, and if they are different, it indicates thatthe working environment is invaded by a stranger. Through facecomparison, the autonomous mower 100 becomes more intelligent, and candistinguish strangers from non-strangers. Only when a stranger appears,will the alarm module 190 send an alarm signal to the outside.

In one embodiment, the information acquisition device is an infraredsensor. The autonomous mower 100 detects the temperature through theinfrared sensor, and the identification unit 162 judges whether theabnormal object exists in the working environment according to whetherthe temperature is in a predetermined range. The autonomous mower 100detects the temperature of the object appearing in the workingenvironment through the infrared sensor, and if the detected temperatureis in the predetermined range, for example, 36.0° C.−37.8° C., theidentification unit 162 judges that the abnormal object exists in theworking environment. In this embodiment, the predetermined temperaturerange is set with the assumption that the abnormal object is human bing,and when the abnormal object is another animal or object, thepredetermined temperature range may be changed correspondingly.

When the identification unit 162 judges that the abnormal object existsin the image information, the alarm module 192 may send an alarm signalto the outside. In one embodiment, the autonomous mower 100 may beprovided with an alarm device, for example, a sounding device (policewhistle), a luminous device and so on, and after the alarm module 190receives information of the abnormal object, the alarm device is startedto make an alarm. In one embodiment, the autonomous mower 100 is notprovided with an alarm device, and after the alarm module 190 receivesinformation of the abnormal object, a wireless communication module 170can be started, and an alarm signal is sent to an external device 200through the wireless communication module 170. The alarm signal may bean image acquired in real time, text reminding information of theabnormal object, an Email of text alarm prompt content or special audioor the like. The external device may be a personal mobile device such asa computer, a mobile phone or a remote controller.

In one embodiment, the wireless communication module 170 may be a wi-ficommunication module or a cellular mobile communication module or aBluetooth module. The autonomous mower 100 not only can transmit theimage information or alarm signal to the external device 200 through thewireless communication module 170, but also can receive controlinformation of the external device 200 through the wirelesscommunication module 170. The autonomous mower 100 can work and travelaccording to the control information of the external device 200, forexample, it controls whether the autonomous mower 100 is in a mowingworking mode or a security patrol mode, it controls whether theautonomous mower 100 stops, and it controls whether the imageacquisition device 140 moves such as rotating.

In one embodiment, the autonomous mower 100 transmits the informationcollected by the information acquisition device to the external device200 through the wireless communication module 170. The external device200 makes a corresponding control instruction according to the receivedinformation. The control module 160 of the autonomous mower 100 includesan identification result processing unit 164 which receives the controlinstruction sent by the external device 200 through the wirelesscommunication module 170, and the autonomous mower 100 controls its owntravel or work according to the control instruction, for example, itcontrols whether the autonomous mower 100 is in a mowing working mode ora security patrol mode, it controls whether the autonomous mower 100stops, and it controls whether the autonomous mower 100 moves such asrotating.

Through cooperation between the identification unit 162 and the alarmmodule 190, the autonomous mower 100 can achieve a function of securitypatrol, that is, the autonomous mower 100 not only has a working mode oftrimming the lawn like an ordinary autonomous mower, but also has asecurity patrol working mode.

In the security patrol working mode, the patrol route of the autonomousmower 100 may be different from its mowing path. In one embodiment, thecontrol module 160 is provided with a path setting unit 166. The pathsetting unit 166 can set the rule of the patrolled path according torequirements of the working environment: for example, some places easyto be invaded by abnormal objects are patrolled multiple times at afixed point, or patrolled in a particular time, and so on.

There are lots of manners in which the autonomous mower 100 starts thesecurity patrol working mode, for example, a user starts it manually,the autonomous mower 100 is provided with a working mode select button,and the user manually selects the mowing working mode or the securitypatrol working mode through the button. For example, the user starts theautonomous mower 100 remotely through the external device 200 (apersonal mobile device such as a mobile phone, a computer, a pad or aremote controller), the control module 160 of the autonomous mower 100is provided inside with a client module corresponding to the personalmobile device, and the personal mobile device chooses to start themowing working mode or the security patrol working mode through thematched client module. For example, the control module 160 of theautonomous mower 100 is provided with a predetermined program, and thesecurity patrol working mode or the mowing working mode will be startedautomatically when some conditions in the working environment meet apredetermined condition. In one embodiment, the starting program set inthe control module 160 starts different working modes of the autonomousmower 100 according to different time, for example, the autonomous mower100 starts the mowing working mode during the daytime, and starts thesecurity patrol working mode at night; the autonomous mower 100 startsthe mowing working mode in spring and summer, and starts the securitypatrol working mode in autumn and winter. In one embodiment, the controlmodule 160 starts different working modes according to whether thewireless communication module 170 of the autonomous mower 100 is in acommunication state. When the wireless communication module 170 is inthe communication state, it represents that the user is within a rangenear the working environment, that is, the autonomous mower 100 startsthe mowing working mode; when the wireless communication module 170 isin a non-communication state, it represents that the user may go out,and the autonomous mower 100 starts the security patrol working mode.

How the autonomous mower 100 works is specifically introduced below.

Firstly, the autonomous mower 100 has a function of trimming the lawnlike the common autonomous mower. When the autonomous mower 100 isrequired to trim the lawn, it is only necessary to turn on thecorresponding switch, and its work is the same as that of the commonautonomous mower. After the mowing switch of the autonomous mower 100 isturned on, the autonomous mower 100 can mow automatically according to aset program. It is also feasible to control the autonomous mower 100 toperform a mowing operation through the external device 200 (a personalmobile device such as a computer, a mobile phone or a remotecontroller).

Secondly, the autonomous mower 100 also has a security patrol function.When the autonomous mower 100 is required to carry out security patrol,the autonomous mower 100 is adjusted to the security patrol workingmode. The security patrol function of the autonomous mower 100 and thefunction of trimming the lawn can be opened simultaneously, and may alsobe opened separately. The security patrol function of the autonomousmower 100 has two implementation modes, one is a full-automatic patrolworking mode, and the other is a semi-automatic patrol working mode,Users can choose to use the autonomous mower in whether full-automaticpatrol working mode or semi-automatic patrol working mode based on theactual needs.

When the autonomous mower 100 works in the full-automatic patrol workingmode, the control module 160 of the autonomous mower 100 will controlthe traveling module 130 to work and make the autonomous mower 100patrol along the patrol path set by the path setting unit 166. When theautonomous mower 100 is in a traveling process, the image acquisitiondevice 140 will also work to shoot surroundings. The image shot by theimage acquisition device 140 will be transferred to the identificationunit 162, and the identification unit 162 analyzes the shot image todetermine whether the image acquisition device 140 shoots an abnormalobject. The abnormal object herein can be judged according to the sizeand or whether the shot object is moving. For example, when the shotmoving object reaches the specified size, the object is considered to bean abnormal object, the alarm module 190 sends an alarm signal to theoutside. Herein, the moving object of a specified size includes humanbeings, cars, dogs and the like, and the specified size may be more than30 cm long or tall. In addition, the image shot by the image acquisitiondevice 140 may also not be processed by the identification unit 162, butbe transferred to the external device 200 directly through the wirelesscommunication module 170, and the external device 200 herein, forexample, is a computer, a mobile phone, a remote controller or the like.The external device 200, after receiving the shot image, may process theimage to judge whether an abnormal object exists, and the image may alsobe identified by a operator or a user, to judge whether an abnormalobject exists. After an abnormal object is found, the alarm module 190sends an alarm signal to the outside. The alarm module 190 may send analarm sound or alarm image or information. After hearing the alarm soundor seeing the alarm image or information, the operator or the user maymanipulate the autonomous mower 100 to perform next action through theexternal device 200. For example, the user may transmit a control signalto the autonomous mower 100 through the external device 200, after theautonomous mower 100 receives the control signal through the wirelesscommunication module 170, the control signal is processed by the controlmodule 160, and after processing, the control module 160 willaccordingly turn on the camera light to obtain a clear image, resetalarm, travel to a dangerous object or the like. In this way, theautonomous mower 100 has functions of making an alarm after securitypatrol and finding a danger and processing the danger by the operator orthe like. At the same time, as the autonomous mower 100 also has thefunction of trimming the lawn, the autonomous mower 100 has an advantageof being a multipurpose device. Thus, only by purchasing one device, canthe functions of trimming the lawn and security patrol be achieved,achieving the aim of saving the cost.

When the user selects that the autonomous mower 100 works in thesemi-automatic security patrol working mode, the user can see imageinformation content displayed by a monitor or the external device 200and then send a control command to the autonomous mower 100 through theexternal device 200, so as to control movement of the autonomous mower100, facilitating the user to see a region that he/she desires toobserve. At the same time, the user may also control the imageacquisition device 140 to rotate through the external device 200 or turnon the camera light to better observe the region that he/she desires toobserve. The wireless communication module 170 of the autonomous mower100 will receive the control signal sent by the external device 200, andmay also transfer the image shot by the image acquisition device 140 tothe external device 200 or the monitor and so on. After processing thesignal received by the wireless communication module 170, the controlmodule 160 will control the work of the image acquisition device 140,the traveling module 130, the working module 120 and other devicesaccording to a processing result. When finding an abnormal object, theuser may control further actions of the image acquisition device 140,the traveling module 130, the alarm module 190 and the like of theautonomous mower 100 through the external device 200. For example, theuser controls the autonomous mower 100 to stop moving, controls thealarm module 190 to make an alarm or the like through the externaldevice 200.

The housing of the autonomous mower is provided thereon with an imageacquisition device, the housing is provided therein with a workingmodule, a traveling module and a control module, and in this way, theidentification unit in the control module can control the alarm moduleto make an alarm by analyzing the image shot by the image acquisitiondevice or the temperature detected by the infrared sensor. Therefore,the mower may also achieve a function of security patrol in addition tohaving the function of trimming the lawn. The mower has an advantage ofbeing a multipurpose device, and achieving function of both mowing andmonitoring without manufacturing two devices, thus achieving theadvantage of saving the manufacturing cost.

The image acquisition device 140 includes a lens 142. The lens 142 isused for shooting a video image in a working area of the autonomousmower 100. The lens 142 may lead to an unclear image if not beingcleaned, and the unclear image will lead to the machine's misjudgment ofthe lawn, the barrier and the like, with result that the mower cannotwork normally. To solve such a problem, the autonomous mower 100 isprovided with a cleaning device 143 for keeping the lens 142 clean. Theuser can manually clean the lens 142 through the cleaning device 143.

In one embodiment, the autonomous mower 100 is further provided with acleaning control unit 168 which controls the cleaning device 143 toautomatically clean the lens 142 according to a preset program. In thisembodiment, the lens 142 can be kept clean without user participation.

In one embodiment, the cleaning device 143 includes a shielding sheet145 disposed on the lens 142 and a cleaning element 147 disposed on theshielding sheet 145. The shielding sheet 145 is movable relative to thelens 142. When the shielding sheet 145 moves relative to the lens 142,the cleaning element 147 can clean the lens 142, making the lens 142become clean, thus shooting a clear image.

Referring to FIG. 3 to FIG. 5 , the shielding sheet 145 includes a firstshielding sheet 1451 and a second shielding sheet 1452. The firstshielding sheet 1451 and the second shielding sheet 1452 can be foldedwith or separated from each other, the lens 142 is shielded when thefirst shielding sheet 1451 and the second shielding sheet 1452 arefolded, and the lens 142 is exposed when the first shielding sheet 1451and the second shielding sheet 1452 are separated. It should be notedthat the shielding sheet 145 may also be integral, and may not benecessarily set as two parts. The first shielding sheet 1451 and thesecond shielding sheet 1452 may move up and down and may also move leftand right.

In this embodiment, the cleaning element 147 is a cleaning brush, whichmay be set as one or more, and the cleaning element 147 may be disposedon one or both of the first shielding sheet 1451 and the secondshielding sheet 1452. The cleaning element 147 may also be a flakycleaning plate which, in use, can be coated with a detergent to improvea cleaning effect.

In one embodiment, the cleaning element 147 is detachably installed onthe shielding sheet 145. After the cleaning element 147 works for aperiod of time, the user can remove the cleaning element 147, theninstall and use it after cleaning it; or after the cleaning element 147is damaged, the user can remove the cleaning element 147 and replace itwith a new one.

As shown in FIG. 3 and FIG. 4 , when the image acquisition device 140 ofthe autonomous mower 100 is working the first shielding sheet 1451 andthe second shielding sheet 1452 are separated to expose the lens 142; asshown in FIG. 5 , when the image acquisition device 140 are not working,the first shielding sheet 1451 and the second shielding sheet 1452 arefolded and shield the lens 142. When it is necessary to clean the lens142, the first shielding sheet 1451 and the second shielding sheet 1452of the shielding sheet 145 are folded along the arrow head directionshown in FIG. 4 , and during folding, the cleaning element 147 can cleanthe lens 142. Certainly, in the process that the first shielding sheet1451 and the second shielding sheet 1452 are separated along the arrowhead direction shown in FIG. 3 , the cleaning element 147 can also cleanthe lens 142.

In one embodiment, the cleaning device 143 includes a microfan 144disposed on the lens 142. As shown in FIG. 6 , an air current producedthrough the microfan 144 cleans the lens 142. The fan needs to bedisposed in a manner of mating with the lens 142, and the size thereofshould adapt to the size of the lens 142. The microfan 144 includesblades made of a piezoelectric material, and the microfan 144 makeshigh-frequency vibration by a driving circuit driving the blades, forexample, the vibration frequency reaches 26000 times per second. Throughvibration of the piezoelectric material, the blades may produce aircurrents, and the air currents will blow away foul or steam on the lens142 when flowing through an air duct, thus achieving a cleaning effect.Those skilled in the art can think of that the microfan 144 may also bean ordinary fan, which can also achieve the aim of cleaning the lens 142as long as its air current is great enough.

Those skilled in the art can think of that, besides the single-ductdesign shown in FIG. 6 , the air duct may be designed in a diversifiedmanner. For example, through the multiple-duct design, or when thepositional relationship between the microfan 144 and the lens 142changes, the aim of the present invention can be achieved as long aswind produced by the microfan 144 can be blown to the lens 142.

In one embodiment, the cleaning device 143 includes a transparent cover146 that surrounds the image acquisition device 140 therein and acleaning element 147 for cleaning the transparent cover 146. Thetransparent cover 146 surrounds the image acquisition device 140, thefoul such as dust cannot directly come into contact with the lens 142,and thus the effect of keeping the lens 142 clean can be achieved onlyby cleaning the transparent cover 146.

As shown in FIG. 7 , in this embodiment, the cleaning element 147 is acleaning brush installed on one side of the image acquisition device 140opposite to the lens 142. The cleaning brush is detachably installed onone side of the image acquisition device 140 opposite to the lens 142,so that the user can remove the cleaning brush for cleaning orreplacement. The transparent cover 146 can rotate around the imageacquisition device 140 along the direction of the arrow shown in FIG. 7. When the transparent cover 146 rotates, the cleaning brush 147 canclean the transparent cover 146. Rotation of the transparent cover 146may be driven by a driving motor 180 alone, and may also share thedriving motor existing in the autonomous mower 100.

As shown in FIG. 8 , in one embodiment, the cleaning element 147 is acleaning brush. The cleaning brush 147 is located on an outer side ofthe transparent cover 146 opposite the lens 142. The cleaning brush 147is driven through the driving motor 180, and can reciprocate along theouter side of the transparent cover, so as to clean the range in whichthe transparent cover 146 faces the lens 142. Certainly, rotation of thecleaning brush 147 may be driven by the driving motor 180 alone, and mayalso share the driving motor existing in the autonomous mower 100.

As shown in FIG. 9 , in one embodiment, the cleaning element 147 is aspray device. The spray device 147 is located on an outer side of thetransparent cover 146 directly facing the lens 142. The spray device 147may be a water jet device or an air jet device, which cleans thetransparent dust cover 146 through a sprayed water current or aircurrent.

Cleaning the lens 142 of the image acquisition device 140 of theautonomous mower 100 can be achieved in many manners, for example, apure manual cleaning mode, a semi-automatic cleaning mode and afull-automatic cleaning mode. A cleaning mode is introduced below indetail only by taking that the cleaning device 143 includes a shieldingsheet 145 and a cleaning element 147 as an example, and cleaning mannersin other embodiments are similar to the implementation process of thisembodiment.

The pure manual cleaning mode: the user manually controls the shieldingsheet 145 to clean the lens, and the cleaning frequency of the lens 142can be obtained through experience. For example, if the autonomous mower100 works in a certain particular scenario for a long time, the user caneasily know how soon the cleaning must be made after the lens 142 works,and otherwise, the effect of shooting the image by the lens 142 may beaffected. Similarly, the cleaning frequency of the lens 142 in differentworking scenarios can be obtained through experience. In this way,during working of the autonomous mower 100, the user periodically cleansthe lens 142 according to a specific scenario, and during cleaning, itis feasible that the first shielding sheet 1451 and the second shieldingsheet 1452 of the shielding sheet 145 are folded.

The semi-automatic cleaning mode: the following problems may be broughtabout when the time for cleaning the lens 142 is judged merely relyingon experience: if the cleaning is done too early, at this point, theimage acquisition device 140 may also shoot a clear enough image, andthe working efficiency of the autonomous mower 100 may be affected; ifthe cleaning is done too late, the working efficiency of the lens 142has become low, and danger of the autonomous mower 100 during work maybe increased, which even causes that the autonomous mower 100 cannotwork normally. In one embodiment, the cleaning control unit 168 comparesa real-time image acquired by the image acquisition device 140 when theautonomous mower 100 is in a preset position with a preset referenceimage, and when judging that they are different, controls the alarmmodule 190 to make an alarm. The reference image is an image collectedin a particular scenario when the lens 142 is clean, and the shootingposition is identical to the preset position, which ensures that thescenario of the real-time image is identical to that of the referenceimage. In one embodiment, the autonomous mower 100 can collect areal-time image to be compared with the reference image each time beforeit starts from a charging station or a starting station, and whenjudging that they are different, controls the alarm module 190 to makean alarm. At this point, the reference image is an image collected inthe position of the charging station or the starting station when thelens 142 is clean. In this way, the user can stop the mower timely, thenmanually operate the shielding sheet 145, and clean the lens 142 byusing the cleaning element 147 thereon. Such a semi-automatic mode,compared with the pure manual mode, improves the cleaning efficiencymore greatly, and affects the normal work of the autonomous mower 100less. The alarm module 190 may be a sounding system or a luminoussystem, or a mobile device (such as a mobile phone or a computer)transmitted to the user through communication.

The full-automatic cleaning mode: in one embodiment, the cleaningcontrol unit 168 compares a real-time image collected by the imageacquisition device 140 when the autonomous mower 100 is in a presetposition with a preset reference image, and when judging that they aredifferent, controls the shielding sheet 145 to move and clean the lens142. The reference image is an image collected in a particular scenarioin the case of ensuring that the lens 142 is clean, and the positionwhere the real-time image is collected is identical to the presetposition, which ensures that the scenario of the real-time image isidentical to that of the reference image. In this way, automaticcleaning of the lens 142 is achieved, and efficient work of the mowercan be ensured even if the user does not stop the mower. In oneembodiment, the autonomous mower 100 can collect a real-time image tocompare with the reference image each time before it starts from acharging station or a starting station, and when judging that they aredifferent, controls the shielding sheet 145 to move and clean the lens142. At this point, the reference image is an image collected in theposition of the charging station or the starting station when the lens142 is clean.

The autonomous mower 100 of the present invention, by providing acleaning device 143, not only can manually clean the lens but also canachieve full-automatic cleaning of the lens, which can avoid that theimage shot by the lens 142 is not clear and prevent the mower'smisjudgment of the lawn, the obstacle and the like caused by the unclearimage results in unnormal work of the mower.

The above embodiments merely express several implementation modes of thepresent invention, and the description thereof is relatively specificand detailed, which cannot be thus understood as limitations to thepatent scope of the present invention. It should be noted that, forthose of ordinary skill in the art, several transformations andimprovements can also be made without departing from the concept of thepresent invention, which all belong to the protection scope of thepresent invention. Therefore, the protection scope of the patent of thepresent invention should be subject to the appended claims.

1. An autonomous mower which automatically travels and works in aworking area, the autonomous mower comprising: a housing; a mowingmodule received in the housing, and performing predetermined mowingwork; a traveling module supporting the housing and driving theautonomous mower to travel in a working area; an information acquisitiondevice disposed on the housing and used for acquiring externalenvironment information; an energy module providing energy for theautonomous mower; and a control module connecting and controlling themowing module, the traveling module, the information acquisition deviceand the energy module, to achieve automatic traveling and automaticworking of the autonomous mower; and an alarm module for making analarm, wherein the control module comprises an identification unit whichreceives the external environment information; the identification unitanalyses and judges whether an abnormal object exists in the workingarea according to the external environment information; if an abnormalobject exists, the control module controls the alarm module to send analarm signal to the outside; and the information acquisition device hasmultiple perspectives, the information acquisition device acquires theexternal environment information from different perspective according tothe alarm signal or the external environment information.
 2. Theautonomous mower according to claim 1, wherein the informationacquisition device acquiring the external environment information fromdifferent perspective according to the alarm signal or the externalenvironment information comprises: the autonomous mower rotatingaccording to the alarm signal or the external environment information.3. The autonomous mower according to claim 1, wherein the informationacquisition device acquiring the external environment information fromdifferent perspective according to the alarm signal or informationacquired by the external environment information comprises: theinformation acquisition device rotating according to the alarm signal orthe external environment information.
 4. The autonomous mower accordingto claim 1, wherein the information acquisition device acquiring theexternal environment information from different perspective according tothe alarm signal or the external environment information comprises: thecontrol module controlling the traveling module to move according to thealarm signal or the external environment information.
 5. The autonomousmower according to claim 1, wherein the information acquisition deviceacquiring the external environment information from differentperspective according to the alarm signal or information acquired by theexternal environment information comprises: the information acquisitiondevice switching to different acquisition device types according to thealarm signal or the external environment information.
 6. The autonomousmower according to claim 3, wherein the information acquisition devicecomprises an image acquisition device.
 7. The autonomous mower accordingto claim 6, wherein the image acquisition device is rotatably fixed ontothe housing.
 8. The autonomous mower according to claim 7, wherein theautonomous mower further comprises a driving device that drives theimage acquisition device to make rotational motion, and the controlmodule controls the rotational motion of the image acquisition devicethrough the driving device.
 9. The autonomous mower according to claim8, wherein the image acquisition device is controlled to rotate by acontrol instruction from the outside.
 10. The autonomous mower accordingto claim 8, further comprising a wireless communication modulecomprising a Wi-Fi module, a cellular communication module or aBluetooth module.
 11. The autonomous mower according to claim 10,wherein the alarm signal comprises images, texts or audio alarm signals,the alarm module transmits images, texts or audio alarm signals to theoutside through the wireless communication module.
 12. The autonomousmower according to claim 9, wherein the autonomous mower receives thecontrol instruction sent from the outside through the wirelesscommunication module, and controls the image acquisition device toacquire the external environment information from different perspectiveaccording to the control instruction.
 13. The autonomous mower accordingto claim 4, wherein the control module controls the traveling module tomove according to another control instruction from the outside, theanother control command is sent according to the alarm signal or theexternal environment information.
 14. The autonomous mower according toclaim 13, further comprising a wireless communication module comprisinga Wi-Fi module, a cellular communication module or a Bluetooth module.15. The autonomous mower according to claim 14, wherein the wirelesscommunication module transmits the external environment information tothe outside.
 16. The autonomous mower according to claim 15, wherein theautonomous mower receives the another control instruction sent from theoutside through the wireless communication module, and controls thetraveling module to move according to the another control instruction.17. The autonomous mower according to claim 1, wherein theidentification unit of the control module analyses and judges whether anabnormal object exists in the working area according to the externalenvironment information; if an abnormal object exists, the informationacquisition device acquires the external environment information from adifferent perspective; the identification unit of the control moduleanalyses and judges whether an abnormal object exists in the workingarea according to the external environment information again; if anabnormal object still exists, the control module controls the alarmmodule to send an alarm signal to the outside.